
#ifndef __CONTROL_H_
#define __CONTROL_H_

#include "main.h"


#define Motor_Speed_PID_KP 1000.0f 
#define Motor_Speed_PID_KI 0.0f 
#define Motor_Speed_PID_KD 0.0f 
#define Motor_Speed_PID_MAX_OUT  5000.0f
#define Motor_Speed_PID_MAX_IOUT 1000.0f
extern int16_t Set_Left_Speed ;
extern int16_t Set_Right_Speed ;

void controlCallback(TIM_HandleTypeDef *htim);
void motor_control_init(TIM_HandleTypeDef* period,TIM_HandleTypeDef* encoder1,TIM_HandleTypeDef* encoder2);


#endif


